To provide a vehicle position estimating device with which it is possible to appropriately estimate the own vehicle's position.SOLUTION: Provided is a vehicle position estimating device 100 for estimating the position of the own vehicle on a map, comprising: a map database 5 in which map information including demarcation line position information of a road; a demarcation line recognition unit 14 for recognizing a demarcation line around the vehicle on the basis of the captured image of a camera 2 that images the surroundings of the vehicle; an object recognition unit 12 for recognizing an object around the vehicle on the basis of the detection result of a radar sensor 3 of the vehicle; and a vehicle position estimation unit 15 for estimating the position of the own vehicle on the basis of the demarcation line recognized by the demarcation line recognition unit and the demarcation line position information included in map information. When an object image is included in the captured image, the demarcation line recognition unit 14 excludes image information corresponding to an object and recognizes a demarcation line around the vehicle.SELECTED DRAWING: Figure 3
【課題】 自車位置を適切に推定することができる自車位置推定装置を提供する。【解決手段】 車両の地図上の自車位置を推定する自車位置推定装置100であって、道路の区画線の位置情報を含む地図情報を記憶している地図データベース5と、車両の周囲を撮像するカメラ2の撮像画像に基づいて、車両の周囲の区画線を認識する区画線認識部14と、車両のレーダセンサ3の検出結果に基づいて、車両の周囲の物体を認識する物体認識部12と、区画線認識部の認識した区画線と地図情報に含まれる区画線の位置情報とに基づいて、車両の自車位置を推定する自車位置推定部15と、を備え、区画線認識部14は、撮像画像に物体の画像が含まれる場合、物体に対応する画像情報を除外して車両の周囲の区画線の認識を行う。【選択図】図3
VEHICLE POSITION ESTIMATING DEVICE
自車位置推定装置
2019-05-23
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
European Patent Office | 2019
|VEHICLE POSITION ESTIMATING DEVICE AND VEHICLE POSITION ESTIMATING METHOD
European Patent Office | 2019
|